CN105569854A - Energy-saving control method for electronic control diesel engine of loading machine - Google Patents

Energy-saving control method for electronic control diesel engine of loading machine Download PDF

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Publication number
CN105569854A
CN105569854A CN201610028010.5A CN201610028010A CN105569854A CN 105569854 A CN105569854 A CN 105569854A CN 201610028010 A CN201610028010 A CN 201610028010A CN 105569854 A CN105569854 A CN 105569854A
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China
Prior art keywords
engine
gear
torque
loader
energy
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CN201610028010.5A
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Chinese (zh)
Inventor
王继新
袁昊昱
柳少康
韩云武
杨永海
范久臣
徐志国
杨松
张立博
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Jilin University
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Jilin University
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Priority to CN201610028010.5A priority Critical patent/CN105569854A/en
Publication of CN105569854A publication Critical patent/CN105569854A/en
Pending legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
    • F02D31/001—Electric control of rotation speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/02—Input parameters for engine control the parameters being related to the engine
    • F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
    • F02D2200/1002—Output torque

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention discloses an energy-saving control method for an electronic control diesel engine of a loading machine. The energy-saving control method comprises an engine rotation speed energy-saving control method part and an engine torque energy-saving control method part. The two control method parts can be switched according to the judgment of the current driving gear. When the gear of a transmission of the loading machine is in the N gear, the engine is in a rotation speed control mode, the engine operation rotation speed required value is set through an engine rotation speed control strategy, and the engine is controlled to operate; when the gear of the transmission of the loading machine is in the D gear or the R gear, the engine is in a torque control mode, the engine operation rotation speed required value is set through an engine torque control strategy, and the engine is controlled to operate. When a driver converts the gear of the transmission into the D gear or the R gear when the engine is in the rotation speed control mode, namely the transmission is in the N gear, then it is judged that the engine enters the torque control mode. When the driver converts the gear of the transmission into the N gear when the engine is in the torque control mode, namely the transmission is in the D gear or the R gear, then it is judged that the engine enters the rotation speed control mode.

Description

Energy-saving control method for electrically-controlled diesel engine of loader
Technical Field
The invention relates to a loader energy-saving control technology, in particular to an energy-saving control method for an electrically-controlled diesel engine of a loader.
Background
The control method of the electric control diesel engine of the loader at present is single, and the electric control diesel engine mainly comprises the following two forms: 1. the corresponding relation between the travel of an accelerator pedal and the fuel injection quantity is established in a control system, and an electric control actuating mechanism is utilized to control the position of a gear rod of the fuel injection quantity of a mechanical fuel injection pump, so that the fuel injection quantity is adjusted, and the control of an engine is realized; 2. the travel of the accelerator pedal directly corresponds to a certain torque/rotating speed command value, and the control system realizes the control of the engine by sending the torque/rotating speed command value to the engine.
Although the two control modes have great difference on the control method of the engine, the output torque/rotating speed of the engine is only related to the travel of the accelerator pedal in the two control modes, and the output characteristic of the torque converter and the rotating speed/torque requirements of a steering system and a working device are not considered, so that the unreasonable utilization of the power of the engine, the unnecessary increase of the oil consumption and the deterioration of the emission are caused.
It follows that in the field of technology, there is a need for improvements in the control method of electrically controlled diesel engines for loaders, and in particular for improvements aimed at achieving energy-saving control.
Disclosure of Invention
The invention aims to provide an energy-saving control method for an electric control diesel engine of a loader, which comprises the following steps:
1) after receiving a starting command, the starting motor drives the engine crankshaft to rotate at a high speed to push diesel oil in the cylinder to compress and combust until the current engine running speed ne(i) (where i is a count of control steps) is greater than the minimum stable speed nlim_lowAnd starting idling after the engine is ignited successfully, and entering a rotating speed control mode, namely executing the step 2).
2) At the moment, the gear of the gearbox of the loader is in an N gear, the engine is in a rotating speed control mode, and an engine running rotating speed required value N is formulated through an engine rotating speed control strategyreq(i) And controlling the operation of the engine.
3) And judging whether the current engine control mode is converted or not. If the driver shifts the gear position of the gearbox into the D gear or the R gear when the engine is in a rotating speed control mode, namely the gearbox is in the N gear, the engine is judged to enter a torque control mode, namely step 4) is executed, and otherwise step 2) is continuously executed.
4) At the moment, the gear of the gearbox of the loader is in a D gear or an R gear, the engine is in a torque control mode, and an engine running torque demand value T is formulated through an engine torque control strategyreq(i) And controlling the operation of the engine.
5) And judging whether the current engine control mode is converted or not. If the driver shifts the gear of the gearbox to the N gear when the engine is in the torque control mode, namely the gearbox is in the D gear or the R gear, the engine is judged to enter the rotating speed control mode, namely step 2) is executed, and otherwise step 4) is continuously executed. Compared with the prior art, the invention has the beneficial effects that:
1. the invention relates to an energy-saving control method of engine torque and an energy-saving control method of rotating speed at the same time, the two control methods can realize switching according to the current running state of the loader and are suitable for all running working conditions of the loader;
2. the engine torque energy-saving control method controls the engine by integrating torque requirements of a running system, a working device and a steering system, realizes reasonable utilization of the output power of the engine and achieves an energy-saving control effect;
3. the invention relates to an energy-saving control method for the rotating speed of an engine, which adopts PID control and can adjust the output rotating speed of the engine to the optimal working rotating speed of a hydraulic pump. The self-adaptation of the torque can be realized through control, the output torque of the engine is reduced, and the rotation speed fluctuation of the engine is reduced. The fuel economy under the working condition of controlling the rotating speed of the engine is improved, and the energy-saving control effect is achieved;
drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
referring to fig. 1, an energy-saving control method for an electrically controlled diesel engine of a loader includes the following steps:
1) after receiving a starting command, the starting motor drives the engine crankshaft to rotate at a high speed to push diesel oil in the cylinder to compress and combust until the current engine running speed ne(i) (unit: rpm, where i is the count of the control step size) is greater than the minimum stable rotation speed nlim_low(unit: rpm), starting idling after the engine is ignited successfully, and entering a rotating speed control mode, namely executing step 2).
In this step:
nlim_lowthe specific value of the lowest output rotating speed value of the engine capable of stably running is determined by the characteristics of the controlled engine.
2) At the moment, the gear of the gearbox of the loader is in an N gear, the engine is in a rotating speed control mode, and an engine running rotating speed required value N is formulated through an engine rotating speed control strategyreq(i) (unit: rpm), engine operation is controlled.
In this step:
nreq(i) the specific value of (A) is determined by the stroke of the accelerator pedal controlled by the driver;
the realization method of the rotating speed control comprises the following steps: method for controlling output torque of engine by PIDLine adjustment by nreq(i) The engine is controlled for a control target. The self-adaptation of the torque can be realized through control, the output torque of the engine is reduced, and the rotation speed fluctuation of the engine is reduced.
3) And judging whether the current engine control mode is converted or not. If the driver shifts the gear position of the gearbox into the D gear or the R gear when the engine is in a rotating speed control mode, namely the gearbox is in the N gear, the engine is judged to enter a torque control mode, namely step 4) is executed, and otherwise step 2) is continuously executed.
4) At the moment, the gear of the gearbox of the loader is in a D gear or an R gear, the engine is in a torque control mode, and an engine running rotating speed required value T is formulated through an engine torque control strategyreq(i) (unit: N.m), controlling the engine operation.
In this step:
Treq(i) the specific determination method comprises the following steps:
Treq(i)＝Tdir(i)+Twor(i)+Tste(i)
wherein:
Tdir(i) the specific determination method for the torque required by the current running system of the loader in the unit of N m is as follows:
T d r i ( i ) = fun t r a ( n g - o u t ( i ) ) × A P S ( i ) T R ( i ) × i g
wherein, funtra(ng-out(i) Is a fitting equation of a transmission output shaft torque characteristic curve and is determined by a loader hydraulic torque converter, the self characteristic of a gearbox and the external characteristic of an engine; n isg-out(i) For the current transmission output speed, unit: rpm; aps (i) is the current accelerator pedal travel in units: percent; TR (i) is the current torque converter torque ratio of the loader; i.e. igThe transmission ratio of the gearbox is the current gear;
the specific determination method of tr (i) is tr (i) ═ funTR(SR (i)). Wherein, funTR(SR (i)) is a fitting equation of a dimensionless characteristic curve of the hydraulic torque converter, and is specifically determined by the characteristics of the hydraulic torque converter; SR (i) is the speed ratio of the current hydraulic torque converter, and the specific determination method comprises the following steps:
Twor(i) the unit of the torque required by the current working device of the loader is as follows: n m, and the specific determination method comprises the following steps:
T w o r ( i ) = V g _ p 1 ( i ) × Δp p 1 ( i ) 20 πη p 1 i p 1
wherein,is the pressure difference between the output and input of the working pump, in units: bar;the geometric displacement of each revolution of the current working pump is shown as unit: cm3；The hydromechanical efficiency of the working pump; i.e. ip1Is the transmission ratio between the engine and the working pump.
The following relation exists between the specific numerical value and the opening degree of the operating handle: V g _ p 1 ( i ) = fun H P S 1 ( HPS 1 ( i ) ) + fun H P S 2 ( HPS 2 ( i ) ) , wherein, funHPS1(HPS1(i) HPS, a fitting equation of the geometric displacement of the working pump per revolution with respect to the opening of the operating handle of the lifting cylinder1(i) For the current lifting cylinder operating handle aperture, unit: percent; funHPS2(HPS2(i) HPS, a fitting equation of the geometric displacement of the working pump per revolution with respect to the opening of the operating handle of the rotary bucket cylinder2(i) For present rotating bucket jar operating handle aperture, unit: % of the total weight of the composition.
Tste(i) The specific determination method for the torque required by the current steering system of the loader comprises the following steps:
T s t e ( i ) = V g _ p 2 ( i ) × Δp p 2 ( i ) 20 πη p 2 i p 2
wherein,is the pressure difference between the output and input of the steering pump, in units: bar;geometric displacement per revolution of the current steering pump, unit: cm3；The hydromechanical efficiency of the steering pump;is the transmission ratio between the engine and the steering pump.
The following relationship exists between the specific values of (a) and the steering wheel angular velocity:wherein f isunω(ω (i)) is a fitted equation of the displacement of the steering pump with respect to the steering wheel angular velocity, ω (i) is the current steering wheel angular velocity, in units: rad/s.
5) And judging whether the current engine control mode is converted or not. If the driver shifts the gear of the gearbox to the N gear when the engine is in the torque control mode, namely the gearbox is in the D gear or the R gear, the engine is judged to enter the rotating speed control mode, namely step 2) is executed, and otherwise step 4) is continuously executed.
6) And judging whether to exit the energy-saving control process of the electrically controlled diesel engine of the loader. When the driver turns off the engine when the engine is in a rotating speed control mode, namely, executes the step 2), or in a torque control mode, namely, executes the step 4), the engine is shut down, the engine rotating speed control mode or the torque control mode is simultaneously exited, and the energy-saving control process of the loader electrically-controlled diesel engine is ended.

Claims (7)

1. An energy-saving control method for an electric control diesel engine of a loader is characterized by comprising the following steps: the energy-saving control method of the engine comprises the following steps: firstly, an energy-saving control method for the rotating speed of an engine and secondly, an energy-saving control method for the torque of the engine are carried out, wherein the two parts are as follows:
energy-saving control method for engine speed
When the gear of the gearbox of the loader is in the N gear, the engine is in a rotating speed control mode, and an engine running rotating speed required value N is set through an engine rotating speed control strategyreq(i) (unit: rpm, i is control step count), controlling the engineRunning;
energy-saving control method for engine torque
When the gear of the gearbox of the loader is in the D gear or the R gear, the engine is in a torque control mode, and an engine running speed required value T is formulated through an engine torque control strategyreq(i) (unit: N.m), controlling the engine operation.
2. The energy-saving control method for the electrically controlled diesel engine of the loader according to claim 1, characterized in that: in the operation process of the loader, the specific process of mutual conversion and exit of the engine rotating speed control mode and the rotating speed control mode is as follows:
1) when a driver switches the gear of the gearbox into a D gear or an R gear when the engine is in a rotating speed control mode, namely the gearbox is in an N gear, judging that the engine enters a torque control mode, and if not, continuously executing the rotating speed control mode;
2) when a driver switches the gear of the gearbox into the N gear when the engine is in a torque control mode, namely the gearbox is in the D gear or the R gear, judging that the engine enters a rotating speed control mode, and if not, continuously executing the torque control mode;
3) when the driver turns off the engine while the engine is in the torque control mode or the rotational speed control mode, the engine is shut down while exiting the engine torque control mode or the rotational speed control mode.
3. The energy-saving control method for the electrically controlled diesel engine of the loader according to claim 1, characterized in that: the engine running speed demand value nreq(i) The determination method comprises the following steps: according to the control of the travel of an accelerator pedal by a driver, in an engine speed control mode, the realization method of the speed control comprises the following steps: the engine output torque is regulated using a control method (here, for example, a PID control method), where n isreq(i) The engine is controlled for a control target.
4. A loader according to claim 1The energy-saving control method of the electric control diesel engine is characterized in that: the engine running speed demand value Treq(i) The determination method comprises the following steps:
Treq(i)＝Tdir(i)+Twor(i)+Tste(i)
wherein:
Tdir(i) the unit of the torque required by the current running system of the loader is as follows: n.m;
Twor(i) the unit of the torque required by the current working device of the loader is as follows: n.m;
Tste(i) the unit of the torque required by the current steering system of the loader is as follows: n.m.
5. The energy-saving control method for the electrically controlled diesel engine of the loader according to claim 4, characterized in that: the current running system required torque T of the loaderdir(i) The determination method comprises the following steps:
T dri ( i ) = fun tra ( n g - out ( t ) ) × APS ( i ) TR ( i ) × i g
wherein:
funtra(ng-out(i) is a fitting equation of a transmission output shaft torque characteristic curve and is determined by a loader hydraulic torque converter, the self characteristic of a gearbox and the external characteristic of an engine;
ng-out(i) for the current transmission output speed, unit: rpm;
aps (i) is the current accelerator pedal travel in units: percent;
TR (i) is the current torque converter torque ratio of the loader;
igthe transmission ratio of the gearbox is the current gear.
6. The energy-saving control method for the electrically controlled diesel engine of the loader according to claim 4, characterized in that: the current working device required torque T of the loaderwor(i) The determination method comprises the following steps:
T w o r ( i ) = V g _ p 1 ( i ) × Δp p 1 ( i ) 20 πη p 1 i p 1
wherein:
(i) is the pressure difference between the output and input of the working pump, in units: bar;
(i) the geometric displacement of each revolution of the current working pump is shown as unit: cm3；
The hydromechanical efficiency of the working pump;
ip1the transmission ratio between the engine and the working pump;
the following relation exists between the specific numerical value and the opening degree of the operating handle: V g _ p 1 ( i ) = fun H P S 1 ( HPS 1 ( i ) ) + fun H P S 2 ( HPS 2 ( i ) ) , wherein, funHPS1(HPS1(i) HPS, a fitting equation of the geometric displacement of the working pump per revolution with respect to the opening of the operating handle of the lifting cylinder1(i) For the current lifting cylinder operating handle aperture, unit: percent; funHPS2(HPS2(i) HPS, a fitting equation of the geometric displacement of the working pump per revolution with respect to the opening of the operating handle of the rotary bucket cylinder2(i) For present rotating bucket jar operating handle aperture, unit: % of the total weight of the composition.
7. The energy-saving control method for the electrically controlled diesel engine of the loader according to claim 4, characterized in that: the current steering system required torque T of the loaderste(i) The determination method comprises the following steps:
T s t e ( i ) = V g _ p 2 ( i ) × Δp p 2 ( i ) 20 πη p 2 i p 2
wherein:
(i) is the pressure difference between the output and input of the steering pump, in units: bar;
(i) geometric displacement per revolution of the current steering pump, unit: cm3；
The hydromechanical efficiency of the steering pump;
is the transmission ratio between the engine and the steering pump;
(i) the following relationship exists between the specific values of (a) and the steering wheel angular velocity:wherein, funω(ω (i)) is a fitted equation of the displacement of the steering pump with respect to the steering wheel angular velocity, ω (i) is the current steering wheel angular velocity, in units: rad/s.
CN201610028010.5A 2016-01-16 2016-01-16 Energy-saving control method for electronic control diesel engine of loading machine Pending CN105569854A (en)

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Application Number Priority Date Filing Date Title
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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CN104141784A (en) * 2014-07-24 2014-11-12 吉林大学 Dynamic matching device and method for loader engine and adjustable hydraulic torque converter
CN104675544A (en) * 2013-11-27 2015-06-03 本田技研工业株式会社 Rotation control apparatus of internal combustion engine
CN104989802A (en) * 2015-07-15 2015-10-21 长安大学 Locking and unlocking method and locking and unlocking system for locking type hydraulic torque converter of bulldozer

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014157114A1 (en) * 2013-03-29 2014-10-02 日立建機株式会社 Engine rotation control system
CN104675544A (en) * 2013-11-27 2015-06-03 本田技研工业株式会社 Rotation control apparatus of internal combustion engine
CN103967640A (en) * 2014-05-21 2014-08-06 山推工程机械股份有限公司 Hydraulic type engineering machine and torque control method and device thereof
CN104141784A (en) * 2014-07-24 2014-11-12 吉林大学 Dynamic matching device and method for loader engine and adjustable hydraulic torque converter
CN104989802A (en) * 2015-07-15 2015-10-21 长安大学 Locking and unlocking method and locking and unlocking system for locking type hydraulic torque converter of bulldozer

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Application publication date: 20160511